CN108036150B - A kind of drainpipe detecting robot - Google Patents
A kind of drainpipe detecting robot Download PDFInfo
- Publication number
- CN108036150B CN108036150B CN201711249814.9A CN201711249814A CN108036150B CN 108036150 B CN108036150 B CN 108036150B CN 201711249814 A CN201711249814 A CN 201711249814A CN 108036150 B CN108036150 B CN 108036150B
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- gear
- top surface
- hinge
- diameter changing
- chest
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of drainpipe detecting robots, its structure includes moving to left driving wheel, left driving mechanism, diameter changing device, right driving mechanism, move to right driving wheel, go up and down scissors fork, scalable footstock, body, assist lamp bead, U-shaped rotating seat, camera, king light pearl, the inside of right driving mechanism is connected on the outside of the bottom two that the inside of left driving mechanism passes through diameter changing device, diameter changing device is set to the left driving mechanism being parallel to each other, the centre of right driving mechanism, a kind of drainpipe detecting of present invention robot the utility model has the advantages that robot is equipped with diameter changing device, has the function of reducing, it can be to a left side, right driving wheel and scalable footstock carry out the adjustment of spacing, enable to detection robot that can be suitable for the pipeline of a variety of different-diameters, to avoid the consumption of fund, reduce use cost.
Description
Technical field
It is a kind of drainpipe detecting robot in the present invention, belongs to detecting robot of pipe field.
Background technique
Pipeline is connected into pipe, pipe connector and valve etc. for conveying gas, liquid or with solid particle
Fluid device.In general, fluid flows to low pressure from the high pressure of pipeline after the pressurization such as air blower, compressor, pump and boiler
The pressure or gravity conveying of fluid itself can also be used in place.Having many uses for pipeline is general, be used primarily in water supply, draining, heat supply,
It gives gas, in long distance delivery oil and natural gas, agricultural irrigation, hydraulic engineering and various commercial plants.
But the pipe robot of the prior art is not applied for the pipeline of multiple diameter, needs to be mentioned according to the diameter of pipeline
For corresponding robot, to increase more use costs.
Summary of the invention
Herein in view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of drainpipe detecting robot, with
The pipe robot for solving the prior art is not applied for the pipeline of multiple diameter, needs to be provided according to the diameter of pipeline corresponding
Robot, thus the problem of increasing more use costs.
To achieve the goals above, the present invention is to realize by the following technical solutions: a kind of drainpipe detecting machine
Device people, structure include move to left driving wheel, left driving mechanism, diameter changing device, right driving mechanism, move to right driving wheel, lifting scissors fork, can
Flexible footstock, body, auxiliary lamp bead, U-shaped rotating seat, camera, king light pearl, the inside of the left driving mechanism are filled by variable diameter
The inside of right driving mechanism is connected on the outside of the bottom two set, the diameter changing device is set to the left driving mechanism being parallel to each other, the right side
The centre of driving mechanism, the outside of top two of the diameter changing device are connected with two insides of scalable footstock, the body and
The top surface of diameter changing device is linked together by the way of mechanical connection, and the lifting scissors, which is pitched, parallel and symmetrical is laid with two
A, the side of the scalable footstock is connect with the top both ends hinge of a lifting scissors fork, and a lifting is cut
The bottom hinge of knife and fork is connected to right driving mechanism, and the left driving mechanism is connected to by another described lifting scissors fork can
The other side of flexible footstock is uniformly embedded with the auxiliary lamp bead being gap-matched therewith on the front of the body, described
Auxiliary lamp bead is laid with six or more in equidistant formula, and the front center position of the body is equipped with U-shaped rotating seat, described
U-shaped rotating seat be built-in with can the rotation of degree of progress camera, the left and right sides of the camera is embedded with therewith using gap
The king light pearl of cooperation, the king light pearl are equipped with four and are in symmetrical setting two-by-two, and the driving wheel that moves to left is equipped with two simultaneously
And be mounted on the same outside of left driving mechanism, the right driving mechanism is similarly arranged there are two and is installed on right driving
It is described to move to left driving wheel and be parallel to each other with driving wheel is moved to right on the same outside of mechanism；
The diameter changing device is stretched by horizontal extension mechanism, handwheel rotating mechanism, first longitudinal direction telescoping mechanism, second longitudinal direction
Mechanism, chest, hinge telescoping mechanism, diameter changing mechanism, gear rotation mechanism are constituted, and the horizontal extension mechanism is located at chest in parallel
Top and bottom be fixedly connected with diameter changing mechanism, the diameter changing mechanism be set to the inside of chest and with the one of chest inside
Face is flexibly connected, and the other end of the diameter changing mechanism is connected to the side center of hinge telescoping mechanism, and the hinge is stretched
Contracting mechanism another side and the other end of chest are using mechanical connection, the top of the hinge telescoping mechanism and handwheel whirler
The bottom of structure is flexibly connected, and the handwheel rotating mechanism is through chest and mode that the two is gap-matched is connected
It connects, the bottom of the hinge telescoping mechanism is connect with gear rotation mechanism, the gear rotation mechanism and second longitudinal direction telescopic machine
Structure (is connected to handwheel rotating mechanism, institute by first longitudinal direction telescoping mechanism using transmission connection, the second longitudinal direction telescoping mechanism
The one end for stating second longitudinal direction telescoping mechanism is connected with the angular position of top surface one of diameter changing mechanism, two outside of left and right of the chest
It connects, is connected on the outside of the left and right two of the horizontal extension mechanism scalable with corresponding left driving mechanism, right driving mechanism
Two insides of footstock, horizontal extension mechanism are also mechanically connected with body.
Further, the horizontal extension mechanism includes demarcation plate, the first spring, outer cylinder, inner cylinder, movable mouth, activity
Bar, the outer cylinder are center axis in symmetrical distribution setting using demarcation plate, and the outer cylinder is fixedly connected with demarcation plate, the separation
Plate passes through the first spring and is connected to inner cylinder, and the inner cylinder is through movable mouth and the mode that is gap-matched with outer cylinder connects
It is connected together, the activity mouth is provided on the outer cylinder being integrated therewith, the bottom surface of the inner cylinder and the top of motion bar
Face vertically connects, and the underrun chest of the motion bar is connected to diameter changing mechanism.
Further, the handwheel rotating mechanism includes handwheel disk, hollow cylinder, internal screw thread rotating cylinder, sliding rail, idler wheel, cross
Bar, the internal screw thread rotating cylinder is through the hollow cylinder being gap-matched therewith, the top surface of the internal screw thread rotating cylinder and handwheel disk
Bottom center position vertically connect, the bottom surface of the internal screw thread rotating cylinder and cross bar movable contact, the bottom surface of the hollow cylinder with
The top surface center of cross bar is fixedly connected, and two ends of the cross bar are mounted on idler wheel, there are two the idler wheel is set, an institute
It states idler wheel to be flexibly connected with sliding rail, another described idler wheel is movably connected on chest, and the idler wheel penetrates sliding rail and first longitudinal direction
Telescoping mechanism is connected, the top surface of the sliding rail and inner top surface of chest is vertical connects, and the bottom surface of the cross bar and hinge are flexible
The top movable of mechanism contacts, and the internal screw thread rotating cylinder is connected through a screw thread with hinge telescoping mechanism, the hollow cylinder through
Chest with matching.
Further, the first longitudinal direction telescoping mechanism includes the first wirerope, straight tube, second spring, first pulley
Group, second pulley group, fixed block, strut, link block, the strut from it is lower on through straight tube and the two is matched using gap
It closes, the inner top surface of the straight tube is connected to the top surface of strut by second spring, and the left and right ends of the strut are equipped with fixation
Block, the fixed block are flexibly connected with straight tube, and the strut is fixed with link block far from the one side bottom of second pulley group, institute
The top for stating fixed block is equipped with the second pulley group being fixedly connected with straight tube, and one end of first wirerope is connected to fixation
Block, the other end of first wirerope are connect by second pulley group, first pulley group with idler wheel, the top of the straight tube and
The inner top surface of chest vertically connects, and the link block is connected to second longitudinal direction telescoping mechanism.
Further, the second longitudinal direction telescoping mechanism includes third spring, vertical tube, the second wirerope, third pulley
Group, upright bar, U-shaped frame, pinion gear, movable chain, the upright bar from it is lower on through the vertical tube of clearance fit therewith, it is described vertical
The top surface of bar and the inner top surface of vertical tube are linked together by third spring, the end face center of the bottom surface of the upright bar and U-shaped frame
Position is fixedly connected, and the bottom both ends of the U-shaped frame and the center of pinion gear are mechanically connected, the pinion gear it is upper
Side is equipped with the movable chain being meshed therewith, and one end of the activity chain is fixed on the top surface of diameter changing mechanism, the activity
The other end of chain is then connected with link block, and one end of second wirerope is connected to upright bar, and the other end then passes through third
Pulley blocks are connect with fixed block, and the top surface of the vertical tube is vertically connected at the inner top surface of chest, and the pinion gear is also revolved with gear
Rotation mechanism connection.
Further, the chest includes through-hole, annular groove, card slot, pilot hole, cabinet, guide rail demarcation plate, the case
Body is vertical center axis in symmetrical distribution setting using guide rail demarcation plate, the upper and lower ends of the guide rail demarcation plate with cabinet
Inner top surface, inner bottom surface are fixedly connected, and through-hole is equipped at left and right sides of the guide rail demarcation plate, and the through-hole is provided with is therewith
The top surface outside of the cabinet of integral structure, the cabinet is also provided with annular groove, and the left and right two of cabinet is arranged in the card slot
Side is equipped with the pilot hole communicated therewith on the inside of the card slot, and the pilot hole, annular groove, card slot are integrated with cabinet
Change structure, the hollow cylinder is through through-hole and the two is gap-matched, and the motion bar passes through activity cooperation therewith
Annular groove, the top and bottom of the hinge telescoping mechanism are connected with the inner face of cabinet, the sliding rail, straight tube, first
Pulley blocks, vertical tube top surface connect with the inner top surface of cabinet, the card slot, pilot hole are all connected to diameter changing mechanism, the tooth
The inner bottom surface of the bottom and cabinet of taking turns rotating mechanism connects.
Further, the hinge telescoping mechanism includes upper limit pressing plate, hinged shaft, first connecting rod, left hinge seat, second
Connecting rod, pedestal, lower limit push plate, third connecting rod, screw rod, fourth link, right hinge seat, third wirerope, the first connecting rod
Together with passing through stud connection with the top of fourth link, the bottom of first connecting rod is connect with one end hinge of left hinge seat, the
The bottom of double leval jib is articulated with one end of right hinge seat, and the other end of the left hinge seat and the top of second connecting rod connect, institute
The other end for stating right hinge seat is connected to the top of third connecting rod, and the bottom of the second connecting rod and the bottom of third connecting rod use
Hinge connection, screw rod is through hinged shaft and bottom is fixedly connected with pedestal, the upper limit pressing plate is located at first connecting rod
(top and through the screw rod being gap-matched therewith, the lower limit push plate be located at the bottom surface of third connecting rod and
It is attached in such a way that gap is matched with screw rod, one end of the third wirerope is connected to right hinge seat far from left hinge
One end face of seat, the other end are connect with diameter changing mechanism, and the internal screw thread rotating cylinder is through screw rod and the two is connected through a screw thread,
The top surface fitting of the bottom surface of the cross bar and upper limit pressing plate contacts, and the lower limit push plate, screw rod are and gear rotation mechanism
It is flexibly connected.
Further, the diameter changing mechanism include looping pit, telescopic rod, flexible push plate, reset spring, aperture, sleeve,
Hydraulic stem, the sleeve of one end of the telescopic rod through clearance fit therewith, the other end of the telescopic rod and flexible push plate
Vertical connection, the telescopic rod are fixedly connected by reset spring with the inner face of sleeve far from an end face of flexible push plate, institute
Sleeve offer the aperture being integrated therewith far from an end face center of flexible push plate, the looping pit opens up
In the top surface side of sleeve, underrun sleeve and the cabinet inner face of the sleeve are mechanically connected, the third steel wire
One end of rope passes through aperture, reset spring and telescopic rod and connects, and the other end of the sleeve is fixedly connected with cabinet, the set
The underrun hydraulic stem of cylinder is connected to cabinet, and the telescopic rod is attached with the mode that pilot hole is gap-matched, institute
It states flexible push plate to match with card slot, the motion bar is vertically connected at telescopic rod, the sleeve top surface one through looping pit
A angular position is fixedly connected with movable chain.
Further, the gear rotation mechanism includes annular rounded groove, swingle, first gear, transverse slat, the second tooth
Wheel, screw rod, mounting base, support frame, gear wheel, middle gear, rotating disk, scalable connecting rod, the left and right ends of the screw rod are equal
Through mounting base, there are two the parallel and symmetrical settings of the mounting base, and the second gear is through therewith using excessive
One end of the screw rod of cooperation, the second gear are sequentially connected by the way of being meshed with first gear, and described
One gear is connect by swingle with annular rounded groove, and the annular rounded groove is provided with the bottom for the transverse slat being integrated therewith
Face, the screw flight part are meshed with the bottom of gear wheel, are engaged in middle gear at the top of the gear wheel, it is described in
Gear is connected to the center of rotating disk, the top of the scalable connecting rod and small tooth by the bottom of scalable connecting rod
The center of wheel connects, and one end of support frame as described above is connected with the center of gear wheel, and the other end is then connected to cabinet
Inner face, the first gear is through screw rod and the two is using interference fit, the center of the transverse slat through
It screw rod and is connected through a screw thread, the top surface of the transverse slat is contacted with the fitting of the bottom surface of lower limit push plate, the mounting base
The inner bottom surface of bottom surface and cabinet is mechanically connected.
Beneficial effect
A kind of drainpipe detecting robot of the present invention, when in use, rotation hand wheel disk makes internal screw thread rotating cylinder to screw rod
It inside contracts, because internal screw thread rotating cylinder covers in hollow cylinder, therefore drives hollow cylinder decline, because cross bar is fixed on hollow cylinder, therefore cross bar drives
Idler wheel declines with hollow cylinder, and at the same time, cross bar also provides pressure to upper limit pressing plate, so that under first connecting rod, fourth link
Drop, because idler wheel is connected to the first wirerope, the length of the first wirerope is fixed, therefore the first wirerope is with idler wheel decline and to branch
Draw-bar pull becomes larger, therefore second spring provides direction upward pulling force strut by original state by compression, so that strut is to hollow cylinder
Inside contract, because one end of the second wirerope is connect with strut, the length of the second wirerope is fixed, therefore upright bar with the rising of strut and under
Drop drives pinion gear decline, because branch is fixed in one end of movable chain so that upright bar is overhanging to vertical tube while upright bar is overhanging
Bar, and its length is unique, therefore movable chain rises with strut, and pinion gear is meshed with movable chain, therefore pinion gear is under
It makes rotating motion while drop, drives rotation disc spins at the same time, while scalable connecting rod inside contracts, because
Pinion gear is connect with middle gear by scalable connecting rod, therefore pinion gear drives rotating disk, and rotating disk drives middle gear to carry out band
Dynamic gear wheel makes rotating motion, and because gear wheel is engaged in screw rod, therefore screw rod rotates, because second gear is fixed on screw rod, second
Gear is engaged with first gear again, therefore first gear is rotated with second gear, so that transverse slat is by second connecting rod, third connecting rod stress
And moved up to screw rod, right hinge seat is subjected to displacement at this time, is become smaller to the pulling force of third wirerope, so that reset spring is due to being pressed
Contracting will reset and provide thrust to telescopic rod, and then telescopic rod is overhanging to sleeve and flexible push plate is extrapolated, thus realize by
Right driving mechanism and right driving wheel are overhanging, at the same time, stretch push plate drive motion bar it is overhanging, and then motion bar drive inner cylinder to
Outer cylinder is overhanging, to realize the overhanging of scalable footstock, overhanging distance determines that moving distance is got over from the distance moved to screw rod
Long, variable diameter is bigger, conversely, moving distance is shorter, variable diameter is smaller；
A kind of drainpipe detecting of present invention robot the utility model has the advantages that robot is equipped with diameter changing device, has variable
The function of diameter can carry out the adjustment of spacing to left and right driving wheel and scalable footstock, enable to detection robot that can fit
For the pipeline of a variety of different-diameters, to avoid the consumption of fund, use cost is reduced.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of drainpipe detecting robot of the invention.
Fig. 2 is a kind of structural schematic diagram of working condition of the inside of diameter changing device in Fig. 1.
Fig. 3 is a kind of structural schematic diagram of working condition of the inside of diameter changing device in Fig. 1.
Fig. 4 is the structural schematic diagram of another working condition of Fig. 2.
Fig. 5 is the structural schematic diagram of the enlarged drawing of A in Fig. 3.
In figure: moving to left driving wheel -1, left driving mechanism -2, diameter changing device -3, right driving mechanism -4, move to right driving wheel -5, lifting
Scissors fork -6, scalable footstock -7, body -8, auxiliary lamp bead -9, U-shaped rotating seat -10, camera -11, king light pearl -12, level
Telescoping mechanism -31, handwheel rotating mechanism -32, first longitudinal direction telescoping mechanism -33, second longitudinal direction telescoping mechanism -34, chest -35,
Hinge telescoping mechanism -36, diameter changing mechanism -37, gear rotation mechanism -38, demarcation plate -311, the first spring -312, outer cylinder -313,
Inner cylinder -314, movable mouth -315, motion bar -316, handwheel disk -321, hollow cylinder -322, internal screw thread rotating cylinder -323, sliding rail -324,
Idler wheel -325, cross bar -326, the first wirerope -331, straight tube -332, second spring -333, first pulley group -334, second are sliding
Wheel group -335, fixed block -336, strut -337, link block -338, third spring -341, vertical tube -342, the second wirerope -343,
Third pulley blocks -344, upright bar -345, U-shaped frame -346, pinion gear -347, movable chain -348, through-hole -351, annular groove -
352, card slot -353, pilot hole -354, cabinet -355, guide rail demarcation plate -356, upper limit pressing plate -361, hinged shaft -362, first
Connecting rod -363, left hinge seat -364, second connecting rod -365, pedestal -366, lower limit push plate -367, third connecting rod -368, screw rod -
369, fourth link -3610, right hinge seat -3611, third wirerope -3612, looping pit -371, telescopic rod -372, flexible push away
Plate -373, reset spring -374, aperture -375, sleeve -376, hydraulic stem -377, annular rounded groove -381, swingle -382, first
Gear -383, transverse slat -384, second gear -385, screw rod -386, mounting base -387, support frame -388, gear wheel -389, middle tooth
Take turns -3810, rotating disk -3811, scalable connecting rod -3812.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Fig. 1-Fig. 5 is please referred to, the present invention provides a kind of drainpipe detecting robot technology scheme: its structure includes moving to left
Driving wheel 1, diameter changing device 3, right driving mechanism 4, moves to right driving wheel 5, lifting scissors fork 6, scalable footstock 7, machine at left driving mechanism 2
Body 8, auxiliary lamp bead 9, U-shaped rotating seat 10, camera 11, king light pearl 12, the inside of the left driving mechanism 2 passes through diameter changing device
Be connected to the inside of right driving mechanism 4 on the outside of 3 bottom two, the diameter changing device 3 be set to the left driving mechanism 2 being parallel to each other,
Two outside of top of the centre of right driving mechanism 4, the diameter changing device 3 is connected with two insides of scalable footstock 7, the machine
Body 8 and the top surface of diameter changing device 3 are linked together by the way of mechanical connection, and the lifting scissors fork 6 is parallel and symmetrical
There are two layings, and the side of the scalable footstock 7 is connect with the top both ends hinge of a lifting scissors fork 6, and one
The bottom hinge of the lifting scissors fork 6 is connected to right driving mechanism 4, and the left driving mechanism 2 passes through another described lifting
Scissors fork 6 is connected to the other side of scalable footstock 7, is uniformly embedded on the front of the body 8 and is matched therewith using gap
The auxiliary lamp bead 9 of conjunction, the auxiliary lamp bead 9 are laid with six or more in equidistant formula, the front center position of the body 8
U-shaped rotating seat 10 is installed, the U-shaped rotating seat 10 is built-in with the camera 11 that can carry out 360 degree rotation, the camera 11
The left and right sides be embedded with the king light pearl 12 being gap-matched therewith, the king light pearl 12 is equipped with four and in right two-by-two
Claim distribution setting, the driving wheel 1 that moves to left sets there are two and is mounted on the same outside of left driving mechanism 2, the right driving
There are two the similarly settings of mechanism 4 and is installed on the same outside of right driving mechanism 4, described to move to left driving wheel 1 and move right
Wheel 5 is parallel to each other；
The diameter changing device 3 is by horizontal extension mechanism 31, handwheel rotating mechanism 32, first longitudinal direction telescoping mechanism 33, second
Longitudinal extension mechanism 34, chest 35, hinge telescoping mechanism 36, diameter changing mechanism 37, gear rotation mechanism 38 are constituted, and the level is stretched
Contracting mechanism 31 is located at the top of chest 35 in parallel and bottom is fixedly connected with diameter changing mechanism 37, and the diameter changing mechanism 37 is set to case
Son 35 inside and be flexibly connected with a medial surface of chest 35, the other end of the diameter changing mechanism 37 is connected to hinge and stretches
The other end of the side center of contracting mechanism 36,36 another side of hinge telescoping mechanism and chest 35 is connected using mechanical
It connects, the top of the hinge telescoping mechanism 36 is flexibly connected with the bottom of handwheel rotating mechanism 32, the handwheel rotating mechanism 32
Through chest 35 and mode that the two is gap-matched is attached, the bottom of the hinge telescoping mechanism 36 and gear
Rotating mechanism 38 connects, and for the gear rotation mechanism 38 with second longitudinal direction telescoping mechanism 34 using being sequentially connected, described second is vertical
Handwheel rotating mechanism 32, the second longitudinal direction telescoping mechanism 34 are connected to by first longitudinal direction telescoping mechanism 33 to telescoping mechanism 34
One end be connected with the angular position of top surface one of diameter changing mechanism 37, two outside of the left and right of the chest 35 and corresponding left drive
Motivation structure 2, right driving mechanism 4 connect, and are connected in the two of scalable footstock 7 on the outside of the left and right two of the horizontal extension mechanism 31
Side, horizontal extension mechanism 31 are also mechanically connected with body 8.
The horizontal extension mechanism 31 includes demarcation plate 311, the first spring 312, outer cylinder 313, inner cylinder 314, movable mouth
315, motion bar 316, the outer cylinder 313 are center axis in symmetrical distribution setting with demarcation plate 311, the outer cylinder 313 with point
Partition 311 is fixedly connected, and the demarcation plate 311 is connected to inner cylinder 314 by the first spring 312, the inner cylinder 314 through
The movable mouth 315 and mode being gap-matched with outer cylinder 313 links together, the activity mouth 315 is provided with is therewith
On the outer cylinder 313 of integral structure, the bottom surface of the inner cylinder 314 is vertical with the top surface of motion bar 316 to be connect, the motion bar
316 underrun chest 35 is connected to diameter changing mechanism 37.
The handwheel rotating mechanism 32 includes handwheel disk 321, hollow cylinder 322, internal screw thread rotating cylinder 323, sliding rail 324, rolling
325, cross bar 326 are taken turns, the internal screw thread rotating cylinder 323 turns through the hollow cylinder 322 being gap-matched therewith, the internal screw thread
The top surface of cylinder 323 is vertical with the bottom center position of handwheel disk 321 to be connect, the bottom surface of the internal screw thread rotating cylinder 323 and cross bar 326
Movable contact, the bottom surface of the hollow cylinder 322 are fixedly connected with the top surface center of cross bar 326, two ends of the cross bar 326
It is mounted on idler wheel 325, there are two the idler wheel 325 is set, an idler wheel 325 is flexibly connected with sliding rail 324, another institute
It states idler wheel 325 and is movably connected on chest 35, the idler wheel 325 is connected through sliding rail 324 with first longitudinal direction telescoping mechanism 33, institute
State sliding rail 324 top surface it is vertical with the inner top surface of chest 35 connect, the top of the bottom surface of the cross bar 326 and hinge telescoping mechanism 36
Portion's movable contact, the internal screw thread rotating cylinder 323 are connected through a screw thread with hinge telescoping mechanism 36, the hollow cylinder 322 through
Chest 35 with matching.
The first longitudinal direction telescoping mechanism 33 includes the first wirerope 331, straight tube 332, the cunning of second spring 333, first
Wheel group 334, second pulley group 335, fixed block 336, strut 337, link block 338, the strut 337 from it is lower on through straight
Cylinder 332 and the two is gap-matched, the inner top surface of the straight tube 332 is connected to the top of strut 337 by second spring 333
Face, the left and right ends of the strut 337 are equipped with fixed block 336, and the fixed block 336 is flexibly connected with straight tube 332, the branch
Bar 337 is fixed with link block 338 far from the one side bottom of second pulley group 335, the top of the fixed block 336 be equipped with it is straight
The 332 second pulley groups 335 that are fixedly connected of cylinder, one end of first wirerope 331 are connected to fixed block 336, and described first
The other end of wirerope 331 is connect by second pulley group 335, first pulley group 334 with idler wheel 325, the top of the straight tube 332
Portion is vertical with the inner top surface of chest 35 to be connect, and the link block 338 is connected to second longitudinal direction telescoping mechanism 34.
The second longitudinal direction telescoping mechanism 34 includes third spring 341, vertical tube 342, the second wirerope 343, third cunning
Wheel group 344, upright bar 345, U-shaped frame 346, pinion gear 347, movable chain 348, the upright bar 345 from it is lower on through therewith
The vertical tube 342 of clearance fit, the top surface of the upright bar 345 and the inner top surface of vertical tube 342 are connected to one by third spring 341
Rise, the bottom surface of the upright bar 345 is fixedly connected with the end face center position of U-shaped frame 346, the bottom both ends of the U-shaped frame 346 and
The center of pinion gear 347 is mechanically connected, and the top of the pinion gear 347 is equipped with the movable chain being meshed therewith
348, it is described activity chain 348 one end be fixed on the top surface of diameter changing mechanism 37, it is described activity chain 348 the other end then with
Link block 338 is connected, and one end of second wirerope 343 is connected to upright bar 345, and the other end then passes through third pulley blocks
344 connect with fixed block 336, and the top surface of the vertical tube 342 is vertically connected at the inner top surface of chest 35, and the pinion gear 347 is also
It is connect with gear rotation mechanism 38.
The chest 35 includes through-hole 351, annular groove 352, card slot 353, pilot hole 354, cabinet 355, guide rail separation
Plate 356, the cabinet 355 are vertical center axis in symmetrical distribution setting, the guide rail demarcation plate with guide rail demarcation plate 356
356 upper and lower ends are fixedly connected with the inner top surface of cabinet 355, inner bottom surface, and the left and right sides of the guide rail demarcation plate 356 is equal
Equipped with through-hole 351, the through-hole 351 is provided with the cabinet 355 being integrated therewith, the top surface outside of the cabinet 355
It is also provided with annular groove 352, the left and right sides of cabinet 355 is arranged in the card slot 353, and the inside of the card slot 353 is equipped with
The pilot hole 354 communicated therewith, the pilot hole 354, annular groove 352, card slot 353 are integrated with cabinet 355, institute
Hollow cylinder 322 is stated through through-hole 351 and the two is gap-matched, the motion bar 316 passes through activity cooperation therewith
Annular groove 352, the top and bottom of the hinge telescoping mechanism 36 are connected with the inner face of cabinet 355, the sliding rail
324, straight tube 332, first pulley group 334, vertical tube 342 top surface connect with the inner top surface of cabinet 355, the card slot 353 is led
It is all connected to diameter changing mechanism 37 to hole 354, the bottom of the gear rotation mechanism 38 is connect with the inner bottom surface of cabinet 355.
The hinge telescoping mechanism 36 includes upper limit pressing plate 361, hinged shaft 362, first connecting rod 363, left hinge seat
364, second connecting rod 365, pedestal 366, lower limit push plate 367, third connecting rod 368, screw rod 369, fourth link 3610, right hinge
Seat 3611, third wirerope 3612, the first connecting rod 363 and the top of fourth link 3610 are connected to one by hinged shaft 362
It rises, the bottom of first connecting rod 363 is connect with one end hinge of left hinge seat 364, and the bottom of fourth link 3610 is articulated with right hinge
The other end of one end of chain seat 3611, the left hinge seat 364 is connect with the top of second connecting rod 365, the right hinge seat
3611 other end is connected to the top of third connecting rod 368, the bottom of the second connecting rod 365 and the bottom of third connecting rod 368
Adopt and be hinged, screw rod 369 is through hinged shaft 362 and bottom is fixedly connected with pedestal 366, the upper limit pressing plate
361 are located at the top of first connecting rod 363 and through the screw rod 369 being gap-matched therewith, the lower limit push plate 367
Positioned at third connecting rod 368 bottom surface and be attached in such a way that gap is matched with screw rod 369, the third wirerope
3612 one end is connected to an end face of the right hinge seat 3611 far from left hinge seat 364, and the other end is connect with diameter changing mechanism 37, institute
The internal screw thread rotating cylinder 323 stated is through screw rod 369 and the two is connected through a screw thread, the bottom surface of the cross bar 326 and upper limit pressure
The top surface of plate 361 is bonded contact, and the lower limit push plate 367, screw rod 369 are flexibly connected with gear rotation mechanism 38.
The diameter changing mechanism 37 includes looping pit 371, telescopic rod 372, flexible push plate 373, reset spring 374, aperture
375, sleeve 376, hydraulic stem 377, one end of the telescopic rod 372 through clearance fit therewith sleeve 376, it is described flexible
The other end of bar 372 is vertical with flexible push plate 373 to be connect, and the telescopic rod 372 passes through multiple far from an end face of flexible push plate 373
Position spring 374 is fixedly connected with the inner face of sleeve 376, an end face center of the separate push plate 373 of stretching of the sleeve 376 of institute
The aperture 375 being integrated therewith is offered, the looping pit 371 is opened in the top surface side of sleeve 376, the sleeve
376 underrun sleeve 376 is mechanically connected with 355 inner face of cabinet, and one end of the third wirerope 3612 passes through
Aperture 375, reset spring 374 are connect with telescopic rod 372, and the other end of the sleeve 376 is fixedly connected with cabinet 355, institute
The underrun hydraulic stem 377 for stating sleeve 376 is connected to cabinet 355, and the telescopic rod 372 is matched with pilot hole 354 using gap
The mode of conjunction is attached, and the flexible push plate 373 matches with card slot 353, and the motion bar 316 penetrates looping pit 371
It is vertically connected at telescopic rod 372, the sleeve angular position of 376 top surface one is fixedly connected with movable chain 348.
The gear rotation mechanism 38 includes annular rounded groove 381, swingle 382, first gear 383, transverse slat 384,
It is two gears 385, screw rod 386, mounting base 387, support frame 388, gear wheel 389, middle gear 3810, rotating disk 3811, scalable
Connecting rod 3812, through mounting base 387, the mounting base 387 is parallel and symmetrical to be set for the left and right ends of the screw rod 386
There are two setting, the second gear 385 is through therewith using one end of the screw rod 386 excessively cooperated, the second gear
385 are sequentially connected by the way of being meshed with first gear 383, and the first gear 383 passes through swingle 382 and ring
Shape circular groove 381 connects, and the annular rounded groove 381 is provided with the bottom surface for the transverse slat 384 being integrated therewith, the screw rod
386 threaded portion is meshed with the bottom of gear wheel 389, and the top of the gear wheel 389 is engaged in middle gear 3810, described
Middle gear 3810 is connected to the center of rotating disk 3811, the scalable connection by the bottom of scalable connecting rod 3812
The top of bar 3812 is connect with the center of pinion gear 347, one end of support frame as described above 388 and the center of gear wheel 389
It is connected, the other end is then connected to the inner face of cabinet 355, the first gear 383 is through screw rod 369 and the two is adopted
It through screw rod 369 and is connected through a screw thread with the center of interference fit, the transverse slat 384, the transverse slat 384
The bottom surface fitting of top surface and lower limit push plate 367 contact, the bottom surface of the mounting base 387 and the inner bottom surface of cabinet 355 carry out
Mechanical connection.
Pinion gear 347 described in this patent refers to the machinery member for having gear continuously to engage passing movement and power on wheel rim
Part.Gear in transmission application very early there have been.At the end of the 19th century, it transforms into the principle of cutting method and utilizes this principle cutting
The successive appearance of special purpose machine tool and cutter, with the development of production, the stationarity of gear operation is taken seriously.
When user wants using a kind of drainpipe detecting robot of the invention, the first step, precheck dress
Whether the assembling for all parts set is secured, and whether detection device being capable of normal use；Second step, device being capable of normal use
In the case where carry out using rotation hand wheel disk 321 inside contracts internal screw thread rotating cylinder 323 to screw rod 369, because of internal screw thread rotating cylinder 323
It covers in hollow cylinder 322, therefore 323 drive hollow cylinder 322 to decline, because cross bar 326 is fixed on hollow cylinder 322, therefore cross bar 326 drives
Idler wheel 325 declines with hollow cylinder 322, and at the same time, cross bar 326 also provides pressure to upper limit pressing plate 361, so that first connecting rod
363, fourth link 3610 declines, and because idler wheel 325 is connected to the first wirerope 331, the length of the first wirerope 331 is fixed, therefore
First wirerope 331 becomes larger to 337 pulling force of strut as idler wheel 325 declines, therefore second spring 333 is right by compression by original state
Strut 337 provides direction upward pulling force, so that strut 337 is inside contracted to hollow cylinder 33, one end and branch because of the second wirerope 343
Bar 337 connects, and the length of the second wirerope 343 is fixed, therefore upright bar 345 declines with the rising of strut 337, so that upright bar 345
It is overhanging to vertical tube 342, drive pinion gear 347 to decline while upright bar 345 is overhanging, because branch is fixed in one end of movable chain 348
Bar 337, and its length is unique, therefore movable chain 348 rises with strut 337, and pinion gear 347 is nibbled with movable 348 phase of chain
It closes, therefore pinion gear 347 makes rotating motion while decline, at the same time, scalable connecting rod 3812 inside contracts
While drive rotating disk 3811 to rotate, because pinion gear 347 is connect with middle gear 3810 by scalable connecting rod 3812, therefore small
Gear 347 drives rotating disk 3811, and rotating disk 3811 drives middle gear 3810 to carry out that gear wheel 389 is driven to make rotating motion, because
Gear wheel 389 is engaged in screw rod 386, therefore screw rod 386 rotates, because second gear 385 is fixed on screw rod 386, second gear 385
Again engage with first gear 383, therefore first gear 383 with second gear 385 rotation so that transverse slat 384 by second connecting rod 365,
368 stress of third connecting rod and moved up to screw rod 369, right hinge seat 3611 is subjected to displacement at this time, the drawing to third wirerope 3612
Power becomes smaller, so that reset spring 375 provides thrust to telescopic rod 372 due to be resetted by compression, and then telescopic rod 372 is to set
Cylinder 376 is overhanging and flexible push plate 373 is extrapolated, so that realization is overhanging by right driving mechanism 4 and right driving wheel 5, at the same time,
Flexible push plate 373 drives motion bar 316 overhanging, and then motion bar 316 drives inner cylinder 314 overhanging to outer cylinder 313, so that realizing can
Stretch the overhanging of footstock 7, and overhanging distance determines that moving distance is longer, and variable diameter is bigger from 323 to the mobile distance of screw rod 369,
Conversely, moving distance is shorter, variable diameter is smaller.
Problems solved by the invention is that the pipe robot of the prior art is not applied for the pipeline of multiple diameter, needs root
Corresponding robot is provided according to the diameter of pipeline, to increase more use costs, the present invention is mutual by above-mentioned component
It is combined, has the function of reducing, the adjustment of spacing can be carried out to left and right driving wheel and scalable footstock, is enabled to
The pipeline of a variety of different-diameters can be suitable for by detecting robot, to avoid the consumption of fund, reduce use cost.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. a kind of drainpipe detecting robot, structure include move to left driving wheel (1), left driving mechanism (2), diameter changing device (3),
Right driving mechanism (4) moves to right driving wheel (5), lifting scissors fork (6), scalable footstock (7), body (8), assists lamp bead (9), is U-shaped
Rotating seat (10), camera (11), king light pearl (12), it is characterised in that:
The interior of right driving mechanism (4) is connected on the outside of the bottom two that the inside of the left driving mechanism (2) passes through diameter changing device (3)
Side, the diameter changing device (3) are set to the centre of the left driving mechanism (2), right driving mechanism (4) that are parallel to each other, the variable diameter dress
Two outside of top for setting (3) is connected with two insides of scalable footstock (7), the top surface of the body (8) and diameter changing device (3)
It is linked together by the way of mechanical connection, there are two the parallel and symmetrical layings of the lifting scissors fork (6), described to stretch
The side of contracting footstock (7) is connect with the top both ends hinge of a lifting scissors fork (6), a lifting scissors fork
(6) bottom hinge is connected to right driving mechanism (4), and the left driving mechanism (2) passes through another lifting scissors fork (6)
It is connected to the other side of scalable footstock (7), is uniformly embedded on the front of the body (8) and is gap-matched therewith
It assists lamp bead (9), auxiliary lamp bead (9) is laid with six or more in equidistant formula, the front center position of the body (8)
It sets and is equipped with U-shaped rotating seat (10), the U-shaped rotating seat (10) is built-in with the camera (11) that can carry out 360 degree rotation, described
The left and right sides of camera (11) is embedded with the king light pearl (12) being gap-matched therewith, and the king light pearl (12) is equipped with four
And be in symmetrical setting two-by-two, it is described move to left driving wheel (1) set there are two and be mounted on the same of left driving mechanism (2)
On outside, there are two the right driving mechanism (4) similarly settings and is installed on the same outside of right driving mechanism (4),
It is described to move to left driving wheel (1) and be parallel to each other with driving wheel (5) is moved to right；
The diameter changing device (3) by horizontal extension mechanism (31), handwheel rotating mechanism (32), first longitudinal direction telescoping mechanism (33),
Second longitudinal direction telescoping mechanism (34), chest (35), hinge telescoping mechanism (36), diameter changing mechanism (37), gear rotation mechanism (38)
It constitutes, the horizontal extension mechanism (31) is located at the top of chest (35) in parallel and bottom and diameter changing mechanism (37) are fixed and connected
It connects, the diameter changing mechanism (37) is set to the inside of chest (35) and is flexibly connected with a medial surface of chest (35), the change
The other end of diameter mechanism (37) is connected to the side center of hinge telescoping mechanism (36), the hinge telescoping mechanism (36)
Using being mechanically connected, the top of the hinge telescoping mechanism (36) and handwheel rotate for the other end of another side and chest (35)
The bottom of mechanism (32) is flexibly connected, and the handwheel rotating mechanism (32) is through chest (35) and the two is gap-matched
Mode be attached, the bottom of the hinge telescoping mechanism (36) is connect with gear rotation mechanism (38), gear rotation
Using being sequentially connected, the second longitudinal direction telescoping mechanism (34) is vertical by first for mechanism (38) and second longitudinal direction telescoping mechanism (34)
It is connected to handwheel rotating mechanism (32) to telescoping mechanism (33), one end of the second longitudinal direction telescoping mechanism (34) and diameter changing mechanism
(37) the angular position of top surface one is connected, two outside of the left and right of the chest (35) and corresponding left driving mechanism (2), the right side
Driving mechanism (4) connects, and two insides of scalable footstock (7) are connected on the outside of the left and right two of the horizontal extension mechanism (31),
Horizontal extension mechanism (31) is also mechanically connected with body (8).
2. a kind of drainpipe detecting robot according to claim 1, it is characterised in that: the horizontal extension mechanism (31)
It include demarcation plate (311), the first spring (312), outer cylinder (313), inner cylinder (314), movable mouth (315), motion bar (316),
The outer cylinder (313) is that center axis is arranged in symmetrical distribution with demarcation plate (311), the outer cylinder (313) and demarcation plate (311)
It is fixedly connected, the demarcation plate (311) is connected to inner cylinder (314) by the first spring (312), and the inner cylinder (314) is run through
In movable mouth (315) and the mode that is gap-matched with outer cylinder (313) links together, and the activity mouth (315) opens up
On the outer cylinder (313) being integrated therewith, the bottom surface of the inner cylinder (314) is vertical with the top surface of motion bar (316) to be connected
It connects, the underrun chest (35) of the motion bar (316) is connected to diameter changing mechanism (37).
3. a kind of drainpipe detecting robot according to claim 2, it is characterised in that: the handwheel rotating mechanism (32)
It include handwheel disk (321), hollow cylinder (322), internal screw thread rotating cylinder (323), sliding rail (324), idler wheel (325), cross bar (326),
The internal screw thread rotating cylinder (323) through the hollow cylinder (322) being gap-matched therewith, the internal screw thread rotating cylinder (323)
Top surface is vertical with the bottom center position of handwheel disk (321) to be connect, the bottom surface and cross bar (326) of the internal screw thread rotating cylinder (323)
The bottom surface of movable contact, the hollow cylinder (322) is fixedly connected with the top surface center of cross bar (326), the cross bar (326)
Two ends are mounted on idler wheel (325), and there are two the idler wheel (325) sets, an idler wheel (325) and sliding rail (324) are living
Dynamic connection, another described idler wheel (325) are movably connected on chest (35), and the idler wheel (325) penetrates sliding rail (324) and first
Longitudinal extension mechanism (33) is connected, and the top surface of the sliding rail (324) is vertical with the inner top surface of chest (35) to be connect, the cross bar
(326) bottom surface is contacted with the top movable of hinge telescoping mechanism (36), the internal screw thread rotating cylinder (323) and hinge telescoping mechanism
(36) it is connected through a screw thread, the hollow cylinder (322) is through chest with matching (35).
4. a kind of drainpipe detecting robot according to claim 1, it is characterised in that: the first longitudinal direction telescoping mechanism
It (33) include the first wirerope (331), straight tube (332), second spring (333), first pulley group (334), second pulley group
(335), fixed block (336), strut (337), link block (338), the strut (337) from it is lower on through straight tube (332)
And the two is gap-matched, and the inner top surface of the straight tube (332) is connected to strut (337) by second spring (333)
The left and right ends of top surface, the strut (337) are equipped with fixed block (336), the fixed block (336) and straight tube (332) activity
Connection, the strut (337) are fixed with link block (338), the fixed block far from the one side bottom of second pulley group (335)
(336) top is equipped with the second pulley group (335) being fixedly connected with straight tube (332), one end of first wirerope (331)
It is connected to fixed block (336), the other end of first wirerope (331) passes through second pulley group (335), first pulley group
(334) it is connect with idler wheel (325), the top of the straight tube (332) is vertical with the inner top surface of chest (35) to be connect, the link block
(338) second longitudinal direction telescoping mechanism (34) are connected to.
5. a kind of drainpipe detecting robot according to claim 1, it is characterised in that: the second longitudinal direction telescoping mechanism
It (34) include third spring (341), vertical tube (342), the second wirerope (343), third pulley blocks (344), upright bar (345), U
Type frame (346), pinion gear (347), movable chain (348), the upright bar (345) from it is lower on through clearance fit therewith
Vertical tube (342), the top surface of the upright bar (345) are linked together with the inner top surface of vertical tube (342) by third spring (341),
The bottom surface of the upright bar (345) is fixedly connected with the end face center position of U-shaped frame (346), the bottom two of the U-shaped frame (346)
It holds and is mechanically connected with the center of pinion gear (347), the top of the pinion gear (347) is equipped with the work being meshed therewith
One end of dynamic chain (348), the activity chain (348) is fixed on the top surface of diameter changing mechanism (37), the activity chain
(348) the other end is then connected with link block (338), and one end of second wirerope (343) is connected to upright bar (345),
The other end then passes through third pulley blocks (344) and connect with fixed block (336), and the top surface of the vertical tube (342) is vertically connected at case
The inner top surface of sub (35), the pinion gear (347) also connect with gear rotation mechanism (38).
6. a kind of drainpipe detecting robot according to claim 3, it is characterised in that: the chest (35) includes logical
Hole (351), annular groove (352), card slot (353), pilot hole (354), cabinet (355), guide rail demarcation plate (356), the cabinet
(355) it is arranged for vertical center axis in symmetrical distribution with guide rail demarcation plate (356), above and below the guide rail demarcation plate (356)
Both ends are fixedly connected with inner top surface, the inner bottom surface of cabinet (355), are equipped at left and right sides of the guide rail demarcation plate (356)
Through-hole (351), the through-hole (351) are provided with the cabinet (355) being integrated therewith, the top surface of the cabinet (355)
Outside is also provided with annular groove (352), and the card slot (353) is arranged in the left and right sides of cabinet (355), the card slot (353)
Inside be equipped with the pilot hole (354) communicated therewith, the pilot hole (354), annular groove (352), card slot (353) are and case
Body (355) is integrated, and the hollow cylinder (322) is through through-hole (351) and the two is gap-matched, the work
Lever (316) passes through the annular groove (352) of activity cooperation therewith, and the top and bottom of the hinge telescoping mechanism (36) are and case
The inner face of body (355) is connected, sliding rail (324), straight tube (332), first pulley group (334), vertical tube (342) top surface with
The inner top surface of cabinet (355) connects, and the card slot (353), pilot hole (354) are all connected to diameter changing mechanism (37), the gear
The bottom of rotating mechanism (38) is connect with the inner bottom surface of cabinet (355).
7. a kind of drainpipe detecting robot according to claim 3, it is characterised in that: the hinge telescoping mechanism (36)
It include upper limit pressing plate (361), hinged shaft (362), first connecting rod (363), left hinge seat (364), second connecting rod (365), bottom
Seat (366), lower limit push plate (367), third connecting rod (368), screw rod (369), fourth link (3610), right hinge seat
(3611), third wirerope (3612), the first connecting rod (363) and the top of fourth link (3610) pass through hinged shaft (362)
It links together, the bottom of first connecting rod (363) is connect with one end hinge of left hinge seat (364), fourth link (3610)
Bottom is articulated with one end of right hinge seat (3611), the other end of the left hinge seat (364) and the top of second connecting rod (365)
Connection, the other end of the right hinge seat (3611) are connected to the top of third connecting rod (368), the second connecting rod (365)
Bottom and the bottom of third connecting rod (368) are adopted and are hinged, screw rod (369) through hinged shaft (362) and bottom with
Pedestal (366) is fixedly connected, and the upper limit pressing plate (361) is located at first connecting rod (363 top and through using therewith
The screw rod (369) of clearance fit, the lower limit push plate (367) be located at the bottom surface of third connecting rod (368) and with screw rod (369)
It is attached in such a way that gap is matched, it is separate that one end of the third wirerope (3612) is connected to right hinge seat (3611)
One end face of left hinge seat (364), the other end are connect with diameter changing mechanism (37), and the internal screw thread rotating cylinder (323) is through silk
The bottom surface of bar (369) and the two is connected through a screw thread, the cross bar (326) is contacted with the fitting of the top surface of upper limit pressing plate (361),
The lower limit push plate (367), screw rod (369) are flexibly connected with gear rotation mechanism (38).
8. a kind of drainpipe detecting robot according to claim 7, it is characterised in that: the diameter changing mechanism (37) includes
There are looping pit (371), telescopic rod (372), flexible push plate (373), reset spring (374), aperture (375), sleeve (376), liquid
Compression bar (377), sleeve (376) of the one end of the telescopic rod (372) through clearance fit therewith, the telescopic rod (372)
The other end it is vertical with flexible push plate (373) connect, the telescopic rod (372) passes through far from an end face of flexible push plate (373)
Reset spring (374) is fixedly connected with the inner face of sleeve (376), the one end of sleeve (376) far from flexible push plate (373)
Face center offers the aperture (375) being integrated therewith, and the looping pit (371) is opened in sleeve (376)
Top surface side, underrun sleeve (376) and cabinet (355) inner face of the sleeve (376) are mechanically connected, and described
One end of three wirerope (3612) passes through aperture (375), reset spring (374) is connect with telescopic rod (372), the sleeve
(376) other end is fixedly connected with cabinet (355), and the underrun hydraulic stem (377) of the sleeve (376) is connected to case
Body (355), the mode that the telescopic rod (372) is gap-matched with pilot hole (354) are attached, the flexible push plate
(373) it matching with card slot (353), the motion bar (316) is vertically connected at telescopic rod (372) through looping pit (371),
Sleeve (376) angular position of top surface one is fixedly connected with movable chain (348).
9. a kind of drainpipe detecting robot according to claim 1, it is characterised in that: the gear rotation mechanism (38)
It include annular rounded groove (381), swingle (382), first gear (383), transverse slat (384), second gear (385), screw rod
(386), mounting base (387), support frame (388), gear wheel (389), middle gear (3810), rotating disk (3811), scalable company
Extension bar (3812), through mounting base (387), the mounting base (387) is parallel and right for the left and right ends of the screw rod (386)
There are two the settings of title, and the second gear (385) is described through the one end for using the screw rod (386) excessively cooperated therewith
Second gear (385) be sequentially connected by the way of being meshed with first gear (383), the first gear (383)
It is connect with annular rounded groove (381) by swingle (382), the annular rounded groove (381) is provided with to be integrated therewith
The threaded portion of the bottom surface of transverse slat (384), the screw rod (386) is meshed with the bottom of gear wheel (389), the gear wheel
(389) it is engaged at the top of middle gear (3810), the middle gear (3810) is connected by the bottom of scalable connecting rod (3812)
It is connected to the center of rotating disk (3811), the top of the scalable connecting rod (3812) and the centre bit of pinion gear (347)
Connection is set, one end of support frame as described above (388) is connected with the center of gear wheel (389), and the other end is then connected to cabinet
(355) inner face, the first gear (383) is through screw rod (369) and the two is using interference fit, the transverse slat
(384) center is through screw rod (369) and is connected through a screw thread, the top surface of the transverse slat (384) and lower limit
The bottom surface of push plate (367) is bonded contact, and the bottom surface of the mounting base (387) and the inner bottom surface of cabinet (355) are mechanically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249814.9A CN108036150B (en) | 2017-12-01 | 2017-12-01 | A kind of drainpipe detecting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249814.9A CN108036150B (en) | 2017-12-01 | 2017-12-01 | A kind of drainpipe detecting robot |
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| CN108036150A CN108036150A (en) | 2018-05-15 |
| CN108036150B true CN108036150B (en) | 2019-10-01 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784512B (en) * | 2018-06-29 | 2021-03-30 | 安徽中宝电梯科技有限公司 | Elevator guide rail cleaning device |
| CN111412342A (en) * | 2019-01-08 | 2020-07-14 | 深圳市重器科技有限公司 | Pipeline detection robot and pipeline detection method |
| CN110864190A (en) * | 2019-11-27 | 2020-03-06 | 深圳市施罗德工业集团有限公司 | Crawling robot lifting platform, image acquisition device and crawling robot |
| ES1293889Y (en) * | 2022-04-11 | 2022-11-15 | Fso Int S L | ROBOTIZED DEVICE FOR THE REPAIR OF LARGE DIMENSIONS PIPES |
| CN115681671B (en) * | 2022-10-31 | 2023-05-26 | 浮梁县景龙特种陶瓷有限公司 | Crack detection device and method for ceramic composite pipe |
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| CN108036150A (en) | 2018-05-15 |
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